相关论文: Interaction-Aware Behavior Planning for Autonomous…

Planning under uncertainty is critical to robotics. The Partially Observable Markov Decision Process (POMDP) is a mathematical framework for such planning problems. It is powerful due to its careful quantification of the non-deterministic…

Autonomous cars have to navigate in dynamic environment which can be full of uncertainties. The uncertainties can come either from sensor limitations such as occlusions and limited sensor range, or from probabilistic prediction of other…

This paper addresses a fundamental question of multi-agent knowledge distribution: what information should be sent to whom and when, with the limited resources available to each agent? Communication requirements for multi-agent systems can…

Operation in a real world traffic requires autonomous vehicles to be able to plan their motion in complex environments (multiple moving participants). Planning through such environment requires the right search space to be provided for the…

Motion planning is challenging when it comes to the case of imperfect state information. Decision should be made based on belief state which evolves according to the noise from the system dynamics and sensor measurement. In this paper, we…

Autonomous agents that operate in the real world must often deal with partial observability, which is commonly modeled as partially observable Markov decision processes (POMDPs). However, traditional POMDP models rely on the assumption of…

Planning under social interactions with other agents is an essential problem for autonomous driving. As the actions of the autonomous vehicle in the interactions affect and are also affected by other agents, autonomous vehicles need to…

In this paper, we propose a new cooperative driving strategy for connected and automated vehicles (CAVs) at unsignalized intersections. Based on the tree representation of the solution space for the passing order, we combine Monte Carlo…

We consider the problem of interaction-aware motion planning for automated vehicles in general traffic situations. We model the interaction between the controlled vehicle and surrounding road users using a generalized potential game, in…

We derive time and energy-optimal control policies for a Connected Autonomous Vehicle (CAV) to complete lane change maneuvers in mixed traffic. The interaction between CAVs and Human-Driven Vehicles (HDVs) requires designing the best…

This article presents a new optimal control-based interactive motion planning algorithm for an autonomous vehicle interacting with a human-driven vehicle. The ego vehicle solves a joint optimization problem for its motion planning involving…

In this article, we propose an optimization-based integrated behavior planning and motion control scheme, which is an interpretable and adaptable urban autonomous driving solution that complies with complex traffic rules while ensuring…

While motion planning techniques for automated vehicles in a reactive and anticipatory manner are already widely presented, approaches to cooperative motion planning are still remaining. In this paper, we present an approach to enhance…

Autonomous agents operating in adversarial scenarios face a fundamental challenge: while they may know their adversaries' high-level objectives, such as reaching specific destinations within time constraints, the exact policies these…

Partially observable Markov decision processes (POMDPs) have been widely used in many robotic applications for sequential decision-making under uncertainty. POMDP online planning algorithms such as Partially Observable Monte-Carlo Planning…

The POMDP is a powerful framework for reasoning under outcome and information uncertainty, but constructing an accurate POMDP model is difficult. Bayes-Adaptive Partially Observable Markov Decision Processes (BA-POMDPs) extend POMDPs to…

For a foreseeable future, autonomous vehicles (AVs) will operate in traffic together with human-driven vehicles. Their planning and control systems need extensive testing, including early-stage testing in simulations where the interactions…

It is expected that autonomous vehicles(AVs) and heterogeneous human-driven vehicles(HVs) will coexist on the same road. The safety and reliability of AVs will depend on their social awareness and their ability to engage in complex social…

Mixed observable Markov decision processes (MOMDPs) are a modeling framework for autonomous systems described by both fully and partially observable states. In this work, we study the problem of synthesizing a control policy for MOMDPs that…

This paper presents a planning system for autonomous driving among many pedestrians. A key ingredient of our approach is PORCA, a pedestrian motion prediction model that accounts for both a pedestrian's global navigation intention and local…